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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
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<div class="title">ORB_SLAM2::KeyFrame Class Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="dummymap_8h_source.html">dummymap.h</a>&gt;</code></p>
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Collaboration diagram for ORB_SLAM2::KeyFrame:</div>
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Public Member Functions</h2></td></tr>
<tr class="memitem:a3232df2495062749da1344db3e5a487f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3232df2495062749da1344db3e5a487f">ChangeParent</a> (<a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *pKF)</td></tr>
<tr class="separator:a3232df2495062749da1344db3e5a487f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac376017c23823c05a6bb851ffb2fdd8f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac376017c23823c05a6bb851ffb2fdd8f">ComputeBoW</a> ()</td></tr>
<tr class="separator:ac376017c23823c05a6bb851ffb2fdd8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a365ec4d06acbbcd668aa5a069c69fdaa"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a365ec4d06acbbcd668aa5a069c69fdaa">SetBadFlag</a> ()</td></tr>
<tr class="separator:a365ec4d06acbbcd668aa5a069c69fdaa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaa7bf1ed2bf0aba7c9f7155025429a9b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aaa7bf1ed2bf0aba7c9f7155025429a9b">SetPose</a> (Mat)</td></tr>
<tr class="separator:aaa7bf1ed2bf0aba7c9f7155025429a9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe7026956c91d4e0a01812be9dc7e8d5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afe7026956c91d4e0a01812be9dc7e8d5">UpdateConnections</a> ()</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a9ed66ca840fb2288ee6b700bb4fc6858"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9ed66ca840fb2288ee6b700bb4fc6858">mbBad</a> = false</td></tr>
<tr class="separator:a9ed66ca840fb2288ee6b700bb4fc6858"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aecf677dc6fdd14e6122d0f5e09c01850"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aecf677dc6fdd14e6122d0f5e09c01850">mbNotErase</a></td></tr>
<tr class="separator:aecf677dc6fdd14e6122d0f5e09c01850"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad48edfe434e118d61db482b68001a3d0"><td class="memItemLeft" align="right" valign="top">std::map&lt; <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *, int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ad48edfe434e118d61db482b68001a3d0">mConnectedKeyFrameWeights</a></td></tr>
<tr class="separator:ad48edfe434e118d61db482b68001a3d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1fa8663dca8ce2071a61aa68de079099"><td class="memItemLeft" align="right" valign="top">Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a1fa8663dca8ce2071a61aa68de079099">mDescriptors</a></td></tr>
<tr class="separator:a1fa8663dca8ce2071a61aa68de079099"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a89412cd7a6d467c262a7c3a584c81990"><td class="memItemLeft" align="right" valign="top">const float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a89412cd7a6d467c262a7c3a584c81990">mfGridElementHeightInv</a> =.5</td></tr>
<tr class="separator:a89412cd7a6d467c262a7c3a584c81990"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7ad664a3275b80e901f3fa290ad7804e"><td class="memItemLeft" align="right" valign="top">const float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7ad664a3275b80e901f3fa290ad7804e">mfGridElementWidthInv</a> =.5</td></tr>
<tr class="separator:a7ad664a3275b80e901f3fa290ad7804e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac9dd3fa8c77335c439ff1295a14d82b"><td class="memItemLeft" align="right" valign="top">vector&lt; vector&lt; vector&lt; size_t &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aac9dd3fa8c77335c439ff1295a14d82b">mGrid</a></td></tr>
<tr class="separator:aac9dd3fa8c77335c439ff1295a14d82b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a201f26dbb7fd5baf1929fe8d0d244bf9"><td class="memItemLeft" align="right" valign="top">Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a201f26dbb7fd5baf1929fe8d0d244bf9">mK</a></td></tr>
<tr class="separator:a201f26dbb7fd5baf1929fe8d0d244bf9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fe0d03aabb1643abb8f4eef33fdf95a"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7fe0d03aabb1643abb8f4eef33fdf95a">mnGridCols</a> =1</td></tr>
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<tr class="memitem:afb859eb91a2365180b006a185aa36ba6"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afb859eb91a2365180b006a185aa36ba6">mnGridRows</a> =1</td></tr>
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<tr class="memitem:a2dd7c62ebcb3170a7f55796d4e644337"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2dd7c62ebcb3170a7f55796d4e644337">mnId</a></td></tr>
<tr class="separator:a2dd7c62ebcb3170a7f55796d4e644337"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a677fd210bec35232bda003b543d0acfc"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a677fd210bec35232bda003b543d0acfc">mnMaxX</a> =2</td></tr>
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<tr class="memitem:ababbbd404314965b13a51e6414dce6ad"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ababbbd404314965b13a51e6414dce6ad">mnMaxY</a> =2</td></tr>
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<tr class="memitem:a02b00239e47ff44e5578c2eeaf3d3cc8"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a02b00239e47ff44e5578c2eeaf3d3cc8">mnMinX</a> =0</td></tr>
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<tr class="memitem:ab96accf480c4bbc3212efb47278db8c5"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab96accf480c4bbc3212efb47278db8c5">mnMinY</a> =0</td></tr>
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<tr class="memitem:a94bbb0261caf3f1ed0c434c9fca1e886"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a94bbb0261caf3f1ed0c434c9fca1e886">mpParent</a> = NULL</td></tr>
<tr class="separator:a94bbb0261caf3f1ed0c434c9fca1e886"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5b685b6f58024e8b094adf6f530ff73d"><td class="memItemLeft" align="right" valign="top">set&lt; <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a5b685b6f58024e8b094adf6f530ff73d">mspLoopEdges</a></td></tr>
<tr class="separator:a5b685b6f58024e8b094adf6f530ff73d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c7d75505529d1511211773ea9c4f4c9"><td class="memItemLeft" align="right" valign="top">Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a4c7d75505529d1511211773ea9c4f4c9">mTcw</a></td></tr>
<tr class="separator:a4c7d75505529d1511211773ea9c4f4c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2bc772199a5971900abd76427f15876"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab2bc772199a5971900abd76427f15876">mTimeStamp</a> = 0</td></tr>
<tr class="separator:ab2bc772199a5971900abd76427f15876"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad71678f36b0e9537a9709fbd6853ad00"><td class="memItemLeft" align="right" valign="top">vector&lt; KeyPoint &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ad71678f36b0e9537a9709fbd6853ad00">mvKeysUn</a></td></tr>
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<tr class="memitem:a392e8ece1b3f547d2fb4b0b911a34db4"><td class="memItemLeft" align="right" valign="top">vector&lt; <a class="el" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a392e8ece1b3f547d2fb4b0b911a34db4">mvpMapPoints</a></td></tr>
<tr class="separator:a392e8ece1b3f547d2fb4b0b911a34db4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64ff7002565abb515731bcdde631e271"><td class="memItemLeft" align="right" valign="top">vector&lt; <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a64ff7002565abb515731bcdde631e271">mvpOrderedConnectedKeyFrames</a></td></tr>
<tr class="separator:a64ff7002565abb515731bcdde631e271"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb255c43c5cf153c2ed59189ddf956fb"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afb255c43c5cf153c2ed59189ddf956fb">N</a></td></tr>
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Static Public Attributes</h2></td></tr>
<tr class="memitem:a77f47d461f381e361d2f70adce13fdd3"><td class="memItemLeft" align="right" valign="top">static unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a77f47d461f381e361d2f70adce13fdd3">nNextId</a></td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void ORB_SLAM2::KeyFrame::ChangeParent </td>
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          <td class="memname">void ORB_SLAM2::KeyFrame::ComputeBoW </td>
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          <td class="memname">void ORB_SLAM2::KeyFrame::SetPose </td>
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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname">bool ORB_SLAM2::KeyFrame::mbBad = false</td>
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          <td class="memname">std::map&lt;<a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>*, int&gt; ORB_SLAM2::KeyFrame::mConnectedKeyFrameWeights</td>
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          <td class="memname">const float ORB_SLAM2::KeyFrame::mfGridElementHeightInv =.5</td>
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          <td class="memname">const float ORB_SLAM2::KeyFrame::mfGridElementWidthInv =.5</td>
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          <td class="memname">vector&lt;vector&lt;vector&lt;size_t&gt; &gt; &gt; ORB_SLAM2::KeyFrame::mGrid</td>
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          <td class="memname">unsigned int ORB_SLAM2::KeyFrame::mnId</td>
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          <td class="memname">const int ORB_SLAM2::KeyFrame::mnMaxX =2</td>
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          <td class="memname">const int ORB_SLAM2::KeyFrame::mnMinY =0</td>
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          <td class="memname"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* ORB_SLAM2::KeyFrame::mpParent = NULL</td>
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          <td class="memname">set&lt;<a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>*&gt; ORB_SLAM2::KeyFrame::mspLoopEdges</td>
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<a id="a4c7d75505529d1511211773ea9c4f4c9"></a>
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<a id="ab2bc772199a5971900abd76427f15876"></a>
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          <td class="memname">double ORB_SLAM2::KeyFrame::mTimeStamp = 0</td>
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<a id="ad71678f36b0e9537a9709fbd6853ad00"></a>
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          <td class="memname">vector&lt;KeyPoint&gt; ORB_SLAM2::KeyFrame::mvKeysUn</td>
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          <td class="memname">vector&lt;<a class="el" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>*&gt; ORB_SLAM2::KeyFrame::mvpMapPoints</td>
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          <td class="memname">vector&lt;<a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>*&gt; ORB_SLAM2::KeyFrame::mvpOrderedConnectedKeyFrames</td>
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          <td class="memname">unsigned int ORB_SLAM2::KeyFrame::N</td>
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          <td class="memname">unsigned int ORB_SLAM2::KeyFrame::nNextId</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>/home/alejandro/Development/osmap/include/<a class="el" href="dummymap_8h_source.html">dummymap.h</a></li>
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